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Root Locus and Lead Controllers: - Consider The Previous Example

This document discusses root locus analysis and lead/lag compensator design for a system. It first considers a sample system and performs root locus analysis to determine how adding poles and zeros can shape the locus to meet design goals. Next, it describes the process of designing a lead compensator to force the locus through a specified point. Finally, it covers lag compensator design, explaining how to select pole and zero locations to increase low-frequency gain and minimize steady-state error without significantly altering the locus. Design steps and an example are provided.

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59 views19 pages

Root Locus and Lead Controllers: - Consider The Previous Example

This document discusses root locus analysis and lead/lag compensator design for a system. It first considers a sample system and performs root locus analysis to determine how adding poles and zeros can shape the locus to meet design goals. Next, it describes the process of designing a lead compensator to force the locus through a specified point. Finally, it covers lag compensator design, explaining how to select pole and zero locations to increase low-frequency gain and minimize steady-state error without significantly altering the locus. Design steps and an example are provided.

Uploaded by

wardana_kusuma4493
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PPT, PDF, TXT or read online on Scribd
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E&CE 380 Root Locus Analysis

Root Locus and Lead Controllers


Consider the previous example
) 2 1 )( 2 1 (
) 4 (
) (
j s j s s
s K
s GH
+ + +
+
=
X O
je
o
X
4
X
O
2
2j
2j
+1
p
2
p
3
p
1
z
1
X
Angle of departure from p
2
is
7.1

+ 90

tan
-1
(2/5) = 75.3



The new asymptote intersects
the real axis at
[(0 116) (4 1)]/(4 2) = 1.5
Add a pole/zero combination
at s = 6 , 1 .
E&CE 380 Root Locus Analysis
je
o
X X
2 4
4j
4j
8
Root Locus Lead Design
Consider again the
system defined by

) 2 (
) (
+
=
s s
K
s GH
s
1

Design Point
o s 4

settling time s 1.0 s
> 0.707
Control design
specifications:
E&CE 380 Root Locus Analysis
je
o
X X
2 4
4j
4j
8
Root Locus Lead Design
Can we force the root
locus to go through the
design point, s
1
?

s
1

Design Point
Consider the effect of
adding a pole and zero
combination (a lead
compenstor).
X
E&CE 380 Root Locus Analysis
Root Locus Lead Design
Three effects of the pole
zero combination:
modifies the real axis
segments
shifts the asymptote real
axis intersection to the
left
modifies the angle
criterion by
| = u
z
u
p



je
o
X X
2 4
4j
4j
8
s
1

Design Point
X
u
z
u
p
E&CE 380 Root Locus Analysis
Root Locus Lead Design
Design steps:
place the zero below the
design point, s
1
(approx.)
je
o
X X
2 4
4j
4j
p
s
1

Design Point
X
|
u
p
locate the pole location
from the angle, u
p
and
the location of the zero
determine the angle
difference, | = 90 u
p

that will satisfy the angle
criterion for the design
point, s
1 .

E&CE 380 Root Locus Analysis
Root Locus Lead Design
calculate u
p

tan(18.4) = 4 / ( 4 p)
p = 4/0.333 4 = 16
X
|
je
o
X X
2 4
4j
4j
8
s
1

Design Point
| 135 116.6 = 180
| = 431.6 or 71.6
u
p
= 90 71.6 = 18.4
135
116.6
18.4
calculate the pole location
16
E&CE 380 Root Locus Analysis
Root Locus Lead Design
The asymptote intersection:
K = 5.56 4.47 12.65 / 4 = 78.6
Determine the gain at the
design point:
X
je
o
X X
2 4
4j
4j
8
s
1

Design Point
16
o
a
= (0 2 16) (4)
3 1
o
a
= 7
E&CE 380 Root Locus Analysis
Root Locus Lead Design
The final compensator is
The compensated open-
loops system is

16
4
6 . 78
+
+
=
s
s
G
c
) 2 (
1
16
4
6 . 78
+ +
+
=
s s s
s
G G
p c
4 . 314 6 . 110 18
4
6 . 78
2 3
+ + +
+
=
s s s
s
G
The final closed-loop
systems is
Note: the lead compensator
o = 16/4 = 4
E&CE 380 Root Locus Analysis
Time (sec.)
A
m
p
l
i
t
u
d
e

Closed-Loop System Step Responses
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
0
0.5
1
1.5

) 2 (
1
) (
+
=
s s
s GH
) 2 (
20
) (
+
=
s s
s GH
) 2 (
1
) 16 (
) 4 ( 6 . 78
) (
+ +
+
=
s s s
s
s GH
E&CE 380 Root Locus Analysis
Root Locus Lag Design
Pole/zero placement:
The lag compensator is
represented by a pole near
the imaginary axis and a
zero further to the left.
je
o
1
X
p z
Lag compensator
p s
z s
+
+
| |
| |
p
z
=
'
o
Low frequency gain:
The compensator low
frequency gain is
E&CE 380 Root Locus Analysis
s
1

je
o
X
1 p z
Lag compensator
p s
z s
+
+
< 2
Root Locus Lag Design
Desired effects of the lag:
increase the low frequency gain
to achieve desired steady-state
error specifications, the gain
increase is o' .

2 ) ( ) (
1 1
s + Z + Z p s z s
Introduce very little effect on
the path of the root locus, ie.
E&CE 380 Root Locus Analysis
Root Locus Lag Design
Relate the angle requirement
and low frequency gain: (note
2 = 0.035 rad.) By similar triangles


< 2
je
o
X
o
1

s
1

p z
je
1

L
|
|
1
035 . 0
| | | |
e
L
L
p z
~

1
2
035 . 0
) 1 ( | |
e
o
L
p =
'
) 1 (
) ( 035 . 0
| |
1
2
1
2
1

'
+
=
o e
e o
p
then
E&CE 380 Root Locus Analysis
Root Locus Lag Design
Design steps:
Determine a point, s
1
on the
uncompensated loci that
satisfies the dynamic
requirements.
Find the gain at s
1
and then
the low frequency gain of the
system.
Determine the low frequency
gain, o' of the compensator
required to meet the system
steady-state error requirement.

) 1 (
) ( 035 . 0
| |
1
2
1
2
1

'
+
=
o e
e o
p
Calculate the compensator
pole location using s
1
and
o' in the relationship
Finally, calculate the
compensator zero from

| |
| |
p
z
=
'
o
E&CE 380 Root Locus Analysis
60
Root Locus Lag Design Example
Consider again the
system defined by

) 2 (
) (
+
=
s s
K
s GH
e
ss
s 5% for a ramp
input.
> 0.50
Control design
specifications:
K = 1
je
o
X X
2
1.73j
s
1

K = 2 2 /1 = 4
K = 4
E&CE 380 Root Locus Analysis
Root Locus Lag Design Example
The velocity steady-
state error constant is
For e
ss
s 0.05, K
v
> 20
2
) 2 (
4
lim
0
=
+
=

s s
s K
s
v
Therefore the compensator
low-frequency gain must
be o' > 10 .
The compensator pole
magnitude is
) 1 (
) (
035 . 0
| |
2

+
=
10 1.73
1.73 1
p
= 0.0128
The compensator zero
magnitude is
| z | = o' | p | = 0.128
E&CE 380 Root Locus Analysis
Root Locus Lag Design Example
The final compensator is
The compensated open-
loops system is

0.0128
0.128
0 .
4
+
+
=
s
s
G
c
The final closed-loop
systems is
) 2 (
1
0128 . 0
128 . 0
0 . 4
+ +
+
=
s s s
s
G G
p c
512 . 0 026 . 4 013 . 2
128 . 0
4
2 3
+ +
+
=
s s s
s
G
The roots of the final
closed-loop systems are
s = -0.9386 1.7000i
s = -0.1358
E&CE 380 Root Locus Analysis
-3 -2.5 -2 -1.5 -1 -0.5 0 0.5 1 1.5 2
-2
-1.5
-1
-0.5
0
0.5
1
1.5
2
Real Axis
I
m
a
g

A
x
i
s

Root Locus of Final System
x
-0.25 -0.2 -0.15 -0.1 -0.05 0 0.05
-0.25
-0.2
-0.15
-0.1
-0.05
0
0.05
0.1
0.15
0.2
0.25
Real Axis
I
m
a
g
A
x
i
s

x x
E&CE 380 Root Locus Analysis
Step Responses
Time (sec.)
A
m
p
l
i
t
u
d
e

Step Response
0 2 4 6 8 10 12 14 16 18 20
0
0.2
0.4
0.6
0.8
1
1.2

uncompensated
compensated
E&CE 380 Root Locus Analysis
Ramp Response
Time (sec.)
A
m
p
l
i
t
u
d
e

Ramp Response
0 1 2 3 4 5 6 7 8 9 10
0
1
2
3
4
5
6
7
8
9
10

uncompensated
compensated unit ramp

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